SLAU948 October   2024 MSPM0G3507

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
  5. 2Hardware Setup
    1. 2.1  EVM Hardware Setup
      1. 2.1.1 EVM Hardware Support
    2. 2.2  Pin Configurations for PWM Outputs
    3. 2.3  Pin Configurations for ADC Currents
    4. 2.4  Pin Configurations for ADC Voltages
    5. 2.5  Pin Configurations for Hall Sensor Inputs Through GPIO
    6. 2.6  Pin Configurations for Faults
    7. 2.7  Pin Configurations for GPIO Output Functions
    8. 2.8  Pin Configurations for SPI Communication
    9. 2.9  Pin Configurations for UART Communication
    10. 2.10 External Connections for Evaluation Boards
  6. 3Software Setup
  7. 4GUI Setup
    1. 4.1 Serial Port Configuration
    2. 4.2 GUI Home Page
      1. 4.2.1 System Configurations
      2. 4.2.2 Register Map
      3. 4.2.3 Motor Tuning Page
      4. 4.2.4 Collateral Page
  8. 5Register Map
    1. 5.1 Register Map Page in GUI
    2. 5.2 User Control Registers (Base Address = 0x20200400h)
      1. 5.2.1 Speed Control Register (Offset = 0h) [Reset = 00000000h]
      2. 5.2.2 Algo Debug Control 1 Register (Offset = 4h) [Reset = 00000000h]
      3. 5.2.3 Algo Debug Control 2 Register (Offset = 8h) [Reset = 00000000h]
      4. 5.2.4 Algo Debug Control 3 Register (Offset = Ch) [Reset = 00000000h]
      5. 5.2.5 DAC Configuration Register (Offset = 10h) [Reset = 00000000h]
    3. 5.3 User Input Registers (Base Address = 0x20200000h)
      1. 5.3.1  SYSTEM_PARAMETERS (Offset = 0h)
      2. 5.3.2  MOTOR_STARTUP1 Register (Offset = 3Ch) [Reset = 00000000h]
      3. 5.3.3  MOTOR_STARTUP2 Register (Offset = 40h) [Reset = 00000000h]
      4. 5.3.4  CLOSED_LOOP1 Register (Offset = 44h) [Reset = 00000000h]
      5. 5.3.5  CLOSED_LOOP2 Register (Offset = 48h) [Reset = 00000000h]
      6. 5.3.6  FIELD_CTRL Register (Offset = 4Ch) [Reset = 00000000h]
      7. 5.3.7  FAULT_CONFIG1 Register (Offset = 50h) [Reset = 00000000h]
      8. 5.3.8  FAULT_CONFIG2 Register (Offset = 54h) [Reset = 00000000h]
      9. 5.3.9  MISC_ALGO Register (Offset = 58h) [Reset = 00000000h]
      10. 5.3.10 PIN_CONFIG Register (Offset = 5Ch) [Reset = 00000000h]
      11. 5.3.11 PERI_CONFIG Register (Offset = 60h) [Reset = 00000000h]
    4. 5.4 User Status Registers (Base Address = 0x20200430h)
  9. 6Basic Tuning
    1. 6.1 System Configuration Parameters
      1. 6.1.1 Configuring System Parameters From GUI
      2. 6.1.2 Updating System Parameters Through CCS Debug Window
        1. 6.1.2.1 Motor Resistance in Milliohms (mΩ)
        2. 6.1.2.2 Motor Inductance in Microhenries (μH)
        3. 6.1.2.3 Saliency of IPMSM Motor
        4. 6.1.2.4 Motor BEMF Constant
        5. 6.1.2.5 Base Voltage (V)
        6. 6.1.2.6 Base Current (A)
        7. 6.1.2.7 Maximum Motor Electrical Speed (Hz)
        8. 6.1.2.8 Maximum Motor Power(W)
    2. 6.2 Control Configurations for Basic Motor Spinning
      1. 6.2.1 Hall Sensor Auto Calibration
        1. 6.2.1.1 Hall Sensor Calibration Through GUI
      2. 6.2.2 Motor Open Loop Ramp
      3. 6.2.3 PI Controller Tuning for Closed Loop Speed Control
        1. 6.2.3.1 Current Controller Tuning
        2. 6.2.3.2 Speed/Power Controller Tuning
      4. 6.2.4 Testing for Successful Startup Into Closed Loop
    3. 6.3 Fault Handling
      1. 6.3.1 Monitoring Power Supply Voltage Fluctuations for Voltage Out of Bound Faults
      2. 6.3.2 No Motor Fault [NO_MTR]
      3. 6.3.3 Hall Invalid Fault
  10. 7Advanced Tuning
    1. 7.1 Control Configurations Tuning
      1. 7.1.1  Control Mode of Operation
      2. 7.1.2  Closed Loop Torque Control Mode
      3. 7.1.3  Closed Loop Power Control Mode
      4. 7.1.4  Closed Loop Speed Control Mode
      5. 7.1.5  Voltage Control Mode
      6. 7.1.6  Stopping Motor Quickly
      7. 7.1.7  Flux Weakening: Operating Motor at Speeds Higher Than Rated Speed
      8. 7.1.8  Maximum Torque Per Ampere : Improve Efficiency of IPMSM Motors
      9. 7.1.9  Preventing Supply Voltage Overshoot During Motor Stop.
      10. 7.1.10 Protecting the Power Supply
      11. 7.1.11 FOC Bandwidth Selection
  11. 8Hardware Configurations
    1. 8.1 Direction Configuration
    2. 8.2 Brake Configuration
    3. 8.3 Main.h Definitions
      1. 8.3.1 Sense Amplifier Configuration
      2. 8.3.2 Driver Propagation Delay
      3. 8.3.3 Driver Min On Time
      4. 8.3.4 Current Shunt Configuration Selection
        1. 8.3.4.1 Three Shunt Configurations
        2. 8.3.4.2 Dual Shunt Configuration
      5. 8.3.5 CSA Offset Scaling Factor Selection
    4. 8.4 Real Time Variable Tracking

5.3.4 CLOSED_LOOP1 Register (Offset = 44h) [Reset = 00000000h]

Table 5-27 shows the register to configure close loop settings1.

Table 5-27 CLOSED_LOOP1 Register Field Descriptions
Bit Field Type Reset Description
31-30 RESERVED R/W 0h Reserved
29-28 CONTROL_MODE R/W 0h FOC Closed loop Mode of operation
0h = Closed Loop Speed Control
1h = Closed Loop Power Control
2h = Closed Loop Torque Control
3h = Voltage Control mode
27 HIGH_FREQ_FOC_EN R/W 0b Enable /Disable High FOC Sampling rate. Higher the Sampling rate, lower the CPU bandwidth available for other tasks.
0h = High Frequency FOC Enable.(Max FOC Frequency 10Khz)
1h = High Frequency FOC Disable(Max FOC Frequency 5Khz)
26-22 ILIMIT R/W 0h Current limit in Closed loop Torque Mode and Closed loop Speed control in % of CURRENT_BASE

0h = 7.5%

1h = 8.0%

2h = 8.5%

3h = 9.0%

4h = 9.5%

5h = 10%

6h = 11%

7h = 12%

8h = 13%

9h = 14%

Ah = 15%

Bh = 16%

Ch = 17%

Dh = 18%

Eh = 20%

Fh = 22.5%

10h = 25%

11h = 27.5%

12h = 30%

13h = 35%

14h = 40%

15h = 45%

16h = 50%

17h = 55%

18h = 60%

19h = 70%

1Ah = 75%

1Bh = 80%

1Ch = 85%

1Dh = 90%

1Eh = 95%

1Fh = 100%

21-20 MTR_STOP R/W 00b Motor stop method
0h = Hi-z
1h = Active spin down
2h = Braking
3h = Reserved
19 OVERMODULATION_
ENABLE		 R/W 0b Overmodulation enable
0h = Disable Over Modulation
1h = Enable Over Modulation
18-14 CL_ACC R/W 0h Closed loop acceleration

0h = 0.5Hz/s

1h = 1Hz/s

2h = 2.5Hz/s

3h = 5Hz/s

4h = 7.5Hz/s

5h = 10Hz/s

6h = 20Hz/s

7h = 40Hz/s

8h = 60Hz/s

9h = 80Hz/s

Ah = 100Hz/s

Bh = 200Hz/s

Ch = 300Hz/s

Dh = 400Hz/s

Eh = 500Hz/s

Fh = 600Hz/s

10h = 700Hz/s

11h = 800Hz/s

12h = 900Hz/s

13h = 1000Hz/s

14h = 2000Hz/s

15h = 4000Hz/s

16h = 6000Hz/s

17h = 8000Hz/s

18h = 10000Hz/s

19h = 20000Hz/s

1Ah = 30000Hz/s

1Bh = 40000Hz/s

1Ch = 50000Hz/s

1Dh = 60000Hz/s

1Eh = 70000Hz/s

1Fh = No limit

13 CL_DEC_CONFIG R/W 0h Closed loop deceleration configuration

0h = Closed loop deceleration defined by CL_DEC

1h = Closed loop deceleration defined by CL_ACC

12-8 CL_DEC R/W 0h Closed loop deceleration. This register is used only if AVS is disabled and CL_DEC_CONFIG is set to '0'

0h = 0.5Hz/s

1h = 1Hz/s

2h = 2.5Hz/s

3h = 5Hz/s

4h = 7.5Hz/s

5h = 10Hz/s

6h = 20Hz/s

7h = 40Hz/s

8h = 60Hz/s

9h = 80Hz/s

Ah = 100Hz/s

Bh = 200Hz/s

Ch = 300Hz/s

Dh = 400Hz/s

Eh = 500Hz/s

Fh = 600Hz/s

10h = 700Hz/s

11h = 800Hz/s

12h = 900Hz/s

13h = 1000Hz/s

14h = 2000Hz/s

15h = 4000Hz/s

16h = 6000Hz/s

17h = 8000Hz/s

18h = 10000Hz/s

19h = 20000Hz/s

1Ah = 30000Hz/s

1Bh = 40000Hz/s

1Ch = 50000Hz/s

1Dh = 60000Hz/s

1Eh = 70000Hz/s

1Fh = No limit

7-8 PWM_FREQ_OUT R/W 0h Output PWM switching frequency

0h = 10kHz

1h = 15kHz

2h = 20kHz

3h = 25kHz

4h = 30kHz

5h = 35kHz

6h = 40kHz

7h = 45kHz

8h = 50kHz

9h = 55kHz

Ah = 60kHz

Bh = 65kHz

Ch = 70kHz

Dh = 75kHz

Eh = N/A

Fh = N/A

14 PWM_MODE R/W 0b PWM modulation
0h = Continuous Space Vector Modulation
1h = Discontinuous Space Vector Modulation
3 AVS_EN R/W 0b AVS enable
0h = Disable
1h = Enable
2 DEADTIME_COMP_EN R/W 0b Dead-time compensation enable

0h = Disable

1h = Enable

1 RESERVED R/W 0b Reserved